6 min_in_place_vel_theta: 0.4
7 max_rotational_vel: 1.0 # used by rotate recovery
8 escape_vel: 0.0 # Speed used for driving during escapes in meters/sec. Will move slowly even when the static map shows it as blocked
14 holonomic_robot: false
15 # gdist_scale and pdist_scale parameters should assume meters
18 xy_goal_tolerance: 0.15
19 yaw_goal_tolerance: 0.1
20 # If goal tolerance is latched, if the robot ever reaches the goal xy location it will simply rotate in place, even if it ends up outside the goal tolerance while it is doing so.
21 latch_xy_goal_tolerance: true
23 # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
26 # Whether to score based on the robot's heading to the path or its distance from the path, default: false
27 heading_scoring: false
29 # How far to look ahead in time in seconds along the simulated trajectory when using heading scoring, default: 0.1
30 heading_scoring_timestep: 0.3
32 # How far the robot must travel in meters before oscillation flags are reset, default: 0.05
33 oscillation_reset_dist: 0.1
35 # The step size, in meters, to take between points on a given trajectory, default: 0.025
38 # The step size, in radians, to take between angular samples on a given trajectory, default: sim_granularity
39 angular_sim_granularity: 0.05
56 xy_goal_tolerance: 0.15
57 yaw_goal_tolerance: 0.1
59 # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
61 # The weighting for how much the controller should stay close to the path it was given, default: 32.0
62 path_distance_bias: 64.0
72 tolerance_timeout: 0.1
73 trans_stopped_velocity: 0.001
74 rot_stopped_velocity: 0.001
75 allow_backwards: false
76 # If true, turn in place to face the new goal instead of arching towards it
77 turn_in_place_first: false
78 # If turn_in_place_first is true, turn in place if our heading is more than this far from facing the goal location
79 max_heading_diff_before_moving: 0.175
80 # Gain factor for translation component of output velocities 0..20
82 # Gain factor for rotation component of output velocities: 0..20
84 collision_planner: # =TrajectoryPlannerROS
85 holonomic_robot: false
87 xy_goal_tolerance: 0.15
88 yaw_goal_tolerance: 0.1
89 heading_scoring: false
90 heading_scoring_timestep: 0.3
91 oscillation_reset_dist: 0.1
93 angular_sim_granularity: 0.05